Activities per year
Abstract
We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot.
Original language | English |
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Title of host publication | Proceedings of the Second Italian Conference on Robotics and Intelligent Machines 2020 |
Number of pages | 2 |
ISBN (Electronic) | 9788894580518 |
Publication status | Published - 10 Dec 2020 |
Event | 2nd Italian Conference on Robotics and Intelligent Machines - Online Duration: 10 Dec 2020 → 12 Dec 2020 Conference number: 2 https://i-rim.it/en/i-rim-conference-2020/ |
Conference
Conference | 2nd Italian Conference on Robotics and Intelligent Machines |
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Abbreviated title | 2020 I-RIM |
Period | 10/12/20 → 12/12/20 |
Internet address |
Bibliographical note
Open accessKeywords
- Motion control
- redundant robots
- task priority
Fingerprint
Dive into the research topics of 'Task Priority Matrix Under Hard Joint Constraints'. Together they form a unique fingerprint.Activities
- 1 Participation in conference
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2nd Italian Conference on Robotics and Intelligent Machines
Khaled Al Khudir (Contributor)
10 Dec 2020 → 12 Dec 2020Activity: Participating in or organising an event › Participation in conference
Research output
- 1 Conference proceeding
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Motion Control of Redundant Robots with Generalised Inequality Constraints
Kazemipour, A., Khatib, M., Al Khudir, K. & De Luca, A., 8 Oct 2021, 3rd Italian Conference on Robotics and Intelligent Machines. p. 138-140 3 p.Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review
Open AccessFile